• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.469-475
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• 2010

This paper presents controller design of a two wheeled mobile inverted pendulum robot for one man transportation vehicle. Since the overall mass is varying with different drivers, suitable controller gains are obtained through experimental studies. Variation of the center of gravity due to different masses also affects stable balancing control. Thus, the desired balancing angle si required to be modified with respect to different masses. To measure masses for different drivers, a weight scale is used and those data are used for balancing control through communication. The gain scheduling method of using data obtained from experimental studies allows the robot to have stable balancing performances.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.707-710
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• 1995

Structure of product, which is not considered by easy of assembly, has many hidden costs. For reduction of hidden costs, concepts of line balancing and assembly-oriented design are used. We find that part of structure can be improved by concept of line balancing. To reduce assembly time and enhance easy of assembly, design principles are developed by concept of assembly-oriented design. And design principles for improvement are applied according to condition of the grasped parts of product structure. Thersfore, we could design assembly-oriented design for better structure and low cost.

• Journal of the Korean Statistical Society
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• v.35 no.4
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• pp.343-353
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• 2006

The two-way balanced one-level rotation design, $r_1^m-r_2^{m-1}$, and the three-way balanced multi-level rotation design, $r_1^m(\iota)-r_1^{m-1}$, were discussed (Park et al., 2001, 2003). Although these rotation designs enjoy balancing properties, they have a restriction of $r_2=c{\cdot}r_1$ (c should be a integer value) which interferes with applying these designs freely to various situations. To overcome this difficulty, we extend the $r_1^m(\iota)-r_1^{m-1}$ design to new one under the most general rotation system. The new multi-level rotation design also satisfies tree-way balancing which is done on interview time, rotation group and recall time. We present the rule and rotation algorithm which guarantee the three-way balancing. In particular, we specify the necessary condition for the extended three-way balanced multi-level rotation sampling design.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.712-714
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• 1999

Ball-balancing control systems are ideal to demonstrate the design and hardware implementation Procedures of optimal controllers based on modern control theory. This paper presents the design of an $H_2$ optimal controller based on the generalized plant model of the ball-balancing system. The problem of balancing a metal ball on the midpoint of a beam is ultimately related to a regulating problem. So, the designed controller is correspond to this problem. The controller was experimented by DSP(digital signal processing) equipments and simulated by MATLAB. The performance of controller was verified through the experiments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.139-144
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• 2014

This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.

• Proceedings of the Korean Statistical Society Conference
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• 2002.05a
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• pp.19-24
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• 2002

The two-way balanced one-level rotation design has been discussed (Park, Kim and Choi, 2001), where the two-way balancing is done on interview time in monthly sample and rotation group. We extend it to three-way balanced multi-level design under the most general rotation system. The three-way balancing is accomplished on interview time not only in monthly sample and rotation group but also in recall time. We present the necessary condition and rotation algorithm which guarantee the three-way balancing. We propose multi-level composite estimators (MCE) from this design and derive their variances and mean squared errors (MSE), assuming the correlation from the measurements of the same sample unit and three types of biases in monthly sample.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1293-1296
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• 1997

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exist a trade-off between counter-balacing and dynamic performance. The concept of a composite index is introduced to simulataneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.289-290
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• 2021

Recently, with the advent of the 4th industrial revolution, the role of robots is increasing, and the use of robots is also increasing in the service field. The most popular model for nonlinear research related to robots is the inverted pendulum system. A balancing robot using an inverted pendulum system is a representative nonlinear system and is mainly used to study control theory and other kinematic structures. In this paper, the state of the robot is measured using the 3-axis acceleration sensor (ADXL345) and 3-axis digital output gyro sensor (ITG-3200) or HMC5883L required for balancing robot control, and using the ESP32-WROOM-32 module. I want to design an MCU module that can control a balancing robot. In addition, by using the ESP32-WROOM-32 MCU module, we intend to design an MCU module that can monitor the state of the balancing robot based on WiFi or Bluetooth.

• The Journal of Korean Institute for Practical Engineering Education
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• v.5 no.1
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• pp.20-27
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• 2013

The counter balancing is a technique to control a load which is acting to actuator when the load changes from a resistance state to over running state according to the structural change of the load for the case of lifting or carrying a heavy load in industrial site. Even though this technique is frequently used in industrial site, there is no widely known design procedure and educational equipment in home and abroad. Therefore, in this study a new idea was presented to develop an counter balancing educational equipment. The idea was realized through the process of system modeling and simulation, drawing out of design parameters, manufacturing of a prototype. Finally the usefulness of this developed educational equipment was demonstrated by experiments. It is expected that by using this equipment a big help would be given to students who should understand the counter balancing equipment which is frequently encountered in industrial site.

• Journal of International Academy of Physical Therapy Research
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• v.12 no.2
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• pp.2370-2374
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• 2021

Background: Masticating is an activity that is free from temporal or spatial constraints, with an advantage that it can be combined easily with other treatment methods. While several studies have reported a positive effect of the intervention of chewing using the jaw on postural stability, only a few studies were conducted on stroke patients. Objectives: To investigated the effects of masticating chewing gum on the static and dynamic balancing of stroke patients. Design: Randomized cross-over study design. Methods: Nineteen stroke patients were randomly assigned to the chewing group or control group. BT4 was used to measure the static and dynamic balancing abilities. Pre-test measurements were taken before mastication of chewing gum, and post-test measurements were taken after 2 days. The stroke patients in the chewing group were guided to sit on a chair and chew gum for 3 min, and their balancing abilities were simultaneously measured. The balancing abilities of the control group patients were measured while they sat at rest without masticating chewing gum. Results: The chewing group showed significant increases in the measures of static balance (i.e., C90 area, trace length, X mean, and Y mean). In the between-group comparison, the measures of static balance were significantly higher in the chewing group than in the control group. Conclusion: These findings suggest that masticating chewing gum enhanced the static balancing ability of stroke patients. Thus, gum chewing should be considered a viable clinical intervention to control posture in stroke patients.